10
Control via FHPP
200
Festo – EMCA-EC-C-HP-EN – 2017-11e – English
10.9.7
Diagram: Start and stop positioning task
The diagram shows starting and stopping of a positioning task in direct operation.
Stopp
(CCON.STOP, B1)
Acknowledge start
(SPOS.ACK, B1)
Motion complete
(SPOS.MC, B2)
N
N + 1
Axis is moving
(SPOS.MOV, B4)
Start positioning task
(CPOS.START, B1)
5
4
3
2
1
Setpoint value 2
(Control byte 5 … 8)
…
N
…
…
Actual value 2
(Status byte 5 … 8)
1
With the rising edge in “Start positioning task”,
the current setpoint value (N) is transferred and
“Acknowledge start” is set to 1.
2
As soon as “Start acknowledgement = 1” is
recognised by the controller, “Start
positioning task” can be set to 0.
3
The EMCA reacts to this with a trailing edge
at “Start acknowledgment”.
4
As soon as “Start acknowledgment = 0” is
recognised by the controller, the next
setpoint value (N + 1) can be specified.
5
A running positioning task can be ended with
“Stop”. The drive is stopped hereby with the
quick stop deceleration (PNU 1029).
Fig. 10.19 Diagram: Start and stop positioning task
Содержание EMCA-EC-67 CO Series
Страница 33: ...2 CANopen Festo EMCA EC C HP EN 2017 11e English 33 ...
Страница 73: ...3 EtherCAT with FHPP Festo EMCA EC C HP EN 2017 11e English 73 ...
Страница 87: ...4 EtherNet IP with FHPP Festo EMCA EC C HP EN 2017 11e English 87 ...
Страница 113: ...6 PROFINET IO with FHPP Festo EMCA EC C HP EN 2017 11e English 113 ...
Страница 116: ...7 FHPP 116 Festo EMCA EC C HP EN 2017 11e English ...
Страница 140: ...8 FHPP standard data I O data 140 Festo EMCA EC C HP EN 2017 11e English ...
Страница 148: ...9 Measuring reference system 148 Festo EMCA EC C HP EN 2017 11e English ...
Страница 210: ...10 Control via FHPP 210 Festo EMCA EC C HP EN 2017 11e English ...
Страница 223: ...11 Monitoring of the drive behaviour Festo EMCA EC C HP EN 2017 11e English 223 ...
Страница 367: ...D CANopen communication Festo EMCA EC C HP EN 2017 11e English 367 ...
Страница 402: ...F Diagnostics and fault clearance 402 Festo EMCA EC C HP EN 2017 11e English ...
Страница 413: ...EMCA EC 67 CO DIO EC EP PN Festo EMCA EC C HP EN 2017 11e English 413 ...
Страница 414: ...EMCA EC 67 CO DIO EC EP PN 414 Festo EMCA EC C HP EN 2017 11e English ...
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